Second, departing from previous Leader-Follower setups (where one partner explicitly leads and gives instructions to the other, the follower, who tries to execute said instructions) [1]}, we focus on a setting where partners each have asymmetric knowledge [2]} and skill-sets towards completing a joint goal. In order to effectively complete the given tasks, partners need to negotiate their own plans of action by taking into account what they currently know and don't know about their partner, and of their common understanding of the task at hand. Our novel, more relaxed setup provides support for greater diversity in modes of collaboration that are more representative of that in the real world.
